System, Apparatus, and Method for Controlling Mobility Device

This application claims the benefit of priority to Korean Patent Application No. 10-2024-0202722, filed in the Korean Intellectual Property Office on Dec. 31, 2024, the entire contents of which are incorporated herein by reference.

The present disclosure relates to a system, an apparatus, and a method for controlling a mobility device.

With advances in mobility technology, mobility devices are increasingly being deployed across a wide range of applications, including cargo transport, crop pest control, firefighting, law enforcement, cadastral surveying, port management, underwater drones, and more.

The term “mobility device” may collectively refer to an integrated system including an aerial vehicle that operates autonomously or semi-autonomously along a predefined flight path without an onboard pilot, as well as associated mission equipment, ground control systems, communication systems, support equipment, and operational personnel.

A ground control system (GCS), ground radio station (GRS), or unmanned aircraft (UA) may serve as a remote pilot station to control or monitor the mobility device along its flight route. Each remotely pilot station supports communication within a defined coverage area.

Due to the operational nature of such mobility systems, communication between the mobility device and the remote pilot station may fail if the device moves beyond the station's coverage area, experiences an airframe anomaly, or encounters a communication malfunction. Loss of connectivity with the remote pilot station may place the mobility device in a high-risk or hazardous situation.

The present disclosure is directed to a system, an apparatus, and a method for controlling a mobility device to allow a remotely pilot station to assume control authority in a corresponding area based on the mobility device moving a long distance to perform a mission, thereby enhancing communication and control stability.

According to an aspect of the present disclosure, a system for controlling a mobility device can include a first remotely pilot station configured to hold an initial control authority of the mobility device, a second remotely pilot station, and the mobility device. The mobility device can be configured to determine whether to perform a handover process of a control authority ownership of the mobility device to a remotely pilot station different from the first remotely pilot station, based on communication strength between the first remotely pilot station and the mobility device, and, based on a determination to perform the handover process, transmit a communication request signal to a plurality of remotely pilot stations, where the second remotely pilot station can be configured to, among the plurality of remotely pilot stations, (i) receive the communication request signal and (ii) transmit a control authority handover request to the first remotely pilot station, and the first remotely pilot station can be configured to, based on the control authority handover request being received, transmit a control authority handover start command to the mobility device to enable the mobility device to perform the handover process with the second remotely pilot station.

In some implementations, the mobility device can be configured to perform the handover process, while hovering or loitering above a certain area or continuing a task assigned from the first remotely pilot station. In some implementations, the mobility device can be configured to, based on the handover process being performed, stop communication between the mobility device and the first remotely pilot station and initiate communication between the mobility device and the second remotely pilot station.

In some examples, the mobility device can be configured to maintain performance of a current task, until a next command is received from the second remotely pilot station. In some examples, the mobility device can be configured to, based on communication disconnection from the first remotely pilot station being detected in a state in which the mobility device is not communicatively connected to the second remotely pilot station, move to a pre-specified point to hover or loiter until connected with the first remotely pilot station, and, based on communicatively being reconnected with the first remotely pilot station, re-perform a task that was performed immediately before the communication disconnection.

In some implementations, the mobility device can be configured to, based on the mobility device being communicatively connected with the first remotely pilot station, determine whether a distance between the mobility device and the first remotely pilot station is greater than a predetermined link connection safety distance, and, based on the distance between the mobility device and the first remotely pilot station being greater than the predetermined link connection safety distance, transmit an alarm signal to the first remotely pilot station. In some implementations, the mobility device can be configured to transmit, to the first remotely pilot station, a signal for initiating the handover process, and the first remotely pilot station can be configured to determine whether the handover process is performed without errors based on the signal for initiating the handover process, and, based on a determination that the handover process is performed with an error, transmit a control authority handover restart command to the mobility device.

According to an aspect of the present disclosure, a mobility device can include a memory storing at least one instruction, and at least one processor configured to execute the at least one instruction to perform operations. The operations can include determining whether to perform a handover process of a control authority ownership of the mobility device to another remotely pilot station based on communication strength between a first remotely pilot station and the mobility device, based on a determination to perform the handover process, transmitting a communication request signal to a plurality of remotely pilot stations, and, based on a control authority handover start command being received from the first remotely pilot station, perform the handover process with a second remotely pilot station.

In some implementations, the second remotely pilot station can be a device, among the plurality of remotely pilot stations, configured to transmit a control authority handover request to the first remotely pilot station in response to the communication request signal, and the at least one processor can be configured to perform the handover process, based on the control authority handover start command transmitted from the first remotely pilot station that has received the control authority handover request.

In some implementations, the at least one processor can be configured to, based on communication disconnection from the first remotely pilot station being detected in a state in which the mobility device is not communicatively connected to the second remotely pilot station, control the mobility device to move to a pre-specified point to hover or loiter, until the mobility device is connected with the first remotely pilot station, and, based on communicatively being reconnected with the first remotely pilot station, re-perform a task that was performed immediately before the communication disconnection.

In some examples, the at least one processor can be configured to, based on the mobility device being communicatively connected with the first remotely pilot station, determine whether a distance from the first remotely pilot station is greater than a predetermined link connection safety distance, and, based on the distance between the mobility device and the first remotely pilot station being greater than the predetermined link connection safety distance, transmit an alarm signal to the first remotely pilot station.

According to an aspect of the present disclosure, a method for controlling a mobility device can include determining, by the mobility device, whether to perform a handover process of a control authority ownership of the mobility device to another remotely pilot station based on communication strength between a first remotely pilot station and the mobility device, based on a determination to perform the handover process, transmitting, by the mobility device, a communication request signal to a plurality of remotely pilot stations, receiving, by a second remotely pilot station among the plurality of remotely pilot stations, the communication request signal, transmitting, by the second remotely pilot station, a control authority handover request to the first remotely pilot station, transmitting, by the first remotely pilot station, a control authority handover start command to the mobility device, and performing, by the mobility device, the handover process with the second remotely pilot station.

In some implementations, performing the handover process can include performing the handover process, while hovering or loitering above a certain area or continuing a task assigned from the first remotely pilot station. In some implementations, performing the handover process can include stopping communication between the mobility device and the first remotely pilot station, and initiating communication between the mobility device and the second remotely pilot station.

In some examples, the method can further include transmitting, by the second remotely pilot station, a control authority handover completion signal to the mobility device. In some examples, the method can further include detecting, by the mobility device, a communication disconnection from the first remotely pilot station in a state in which the mobility device is not communicatively connected with the second remotely pilot station, moving, by the mobility device, to a pre-specified point to hover or loiter, until the mobility device is connected with the first remotely pilot station, and re-performing, by the mobility device, a task that was performed immediately before the communication disconnection, based on the mobility device being communicatively reconnected with the first remotely pilot station.

In some implementations, the method can further include determining, by the mobility device, whether a distance between the mobility device and the first remotely pilot station is greater than a predetermined link connection safety distance in a state in which the mobility device is communicatively connected with the first remotely pilot station, and, based on the distance between the mobility device and the first remotely pilot station being greater than the predetermined link connection safety distance, transmitting, by the mobility device, an alarm signal to the first remotely pilot station. In some implementations, the method can further include, after the first remotely pilot station transmits the control authority handover start command to the mobility device, transmitting, by the mobility device, a signal for initiating the handover process to the first remotely pilot station, determining, by the first remotely pilot station, whether the handover process is performed without errors based on the signal for initiating the handover process, and, based on a determination that the handover process is performed with an error, transmitting, by the first remotely pilot station, a control authority handover restart command to the mobility device.

In some examples, the method can further include determining, by the first remotely pilot station, based on a number of times the control authority handover restart command is transmitted is greater than a predetermined number of times, that the handover process is infeasible. In some examples, the method can further include returning, by the mobility device, to a pre-specified point to hover or loiter, based on a communication disconnection between the first remotely pilot station and the mobility device is detected, after determining that the handover process is infeasible.

1 FIG. 2 FIG. is a diagram illustrating an example of a system for controlling a mobility device.is a block diagram illustrating an example of a mobility device.

1 FIG. 100 310 1 320 2 Referring to, the system for controlling the mobility device can include a mobility device, a first remotely pilot station (RPS)(RPS #), and a second RPS(RPS #). For convenience of description, the present disclosure exemplifies a single mobility device and two RPSs, but the present disclosure is not limited thereto. The implementations of the present disclosure can be applied to a plurality of mobility devices and a plurality of RPSs.

1 FIG. 100 100 100 310 320 illustrates a remotely-pilot aircraft (RPA) as an example of the mobility device, but the present disclosure is not limited thereto. The mobility devicecan be provided as a drone, an unmanned helicopter, an unmanned surveillance vehicle, a manned aerial vehicle, an unmanned aerial vehicle, a ground vehicle, a rail vehicle, a vessel, or the like. The mobility devicecan adopt all mobilities, an operation associated with navigation of which is controlled by the RPSsandlocated on the ground. Implementations disclosed in the present disclosure can be applied to the above-mentioned mobility device.

2 FIG. 100 110 120 As depicted in, the mobility devicecan include a memoryfor storing at least one instruction and at least one processorfor executing the at least one instruction.

100 300 310 320 100 300 300 100 The mobility devicecan be navigated under control of the RPS(and), which holds control authority over the mobility device. For example, all operations associated with the navigation can be controlled by the RPSthat is in a communicable range between the RPSand the mobility device.

120 100 100 300 100 The at least one processorcan manage control authority, such as piloting of the mobility device, which can be integrally loaded into the mobility deviceto be used to manage control authority of the RPSfor the mobility device.

300 100 300 The RPScan be at least one of a ground control system (GCS), a ground radio station (GRS), or an unmanned aircraft (UA). A device capable of controlling the mobility devicevia wireless communication can refer to the RPS.

300 100 100 The RPSand the mobility devicecan be connected with each other via communication, where the communication can refer to a command & control link (C2 link). The mobility devicecan perform command and control via the C2 link.

In some implementations, communication lines (or data links or frequency bands) of the C2 link can include multiples rather than one. For example, the communication lines of the C2 link can be provided as ultra high frequency (UHF), C-band, 4th generation (4G), 5th generation (5G), or the like.

100 100 300 The mobility devicecan transmit a signal for starting a control authority handover process of the mobility deviceand a signal for ending the handover process using the same communication frequency band as a data link for receiving command and control signals from the RPS.

100 100 310 310 320 In some implementations, an RPS which holds control authority for the mobility devicebefore handing over ownership of the control authority for the mobility devicecan refer to the first RPSand an RPS which takes over the control authority held by the first RPScan refer to the second RPS.

100 310 310 The mobility devicecan determine whether to perform a handover process of the control authority ownership to another RPS based on communication strength with the first RPSor a separation distance from the first RPS.

310 100 100 In some implementations, if the communication strength with the first RPSbecomes less than a predetermined threshold, the mobility devicecan determine to perform a handover process of the ownership of the control authority for the mobility deviceto the other RPS.

310 100 100 In some implementations, if the distance spaced apart from the first RPSbecomes greater than or equal to a predetermined threshold distance, the mobility devicecan determine to perform a handover process of the ownership of the control authority for the mobility deviceto the other RPS.

100 100 Based on a determination to perform a handover process of the ownership of the control authority for the mobility device, the mobility devicecan broadcast a communication request signal to surrounding RPSs.

310 100 100 The communication request signal can include information regarding the first RPSthat currently holds the control authority for the mobility device. In some implementations, the communication request signal can be a signal for checking whether the receiving RPS can communicate with the mobility device.

320 100 320 310 If the second RPSamong the surrounding RPSs that have received the communication request signal can communicate with the mobility device, the second RPScan transmit a control authority handover request to the first RPSbased on the communication request signal.

310 320 100 Based on a determination to allow the control authority handover process, the first RPS, which has received the control authority handover request from the second RPS, can transmit a control authority handover start command to the mobility device.

100 100 If the mobility devicehas received the control authority handover start command, the mobility devicecan initiate the control authority handover process, while either circling navigation or continuing the mission it was performing immediately prior.

100 310 310 310 100 In this regard, the mobility devicecan transmit, to the first RPS, a signal for initiating performance of the control authority handover process, and the first RPScan determine whether the control authority handover process is performed without errors, based on the received signal for initiating the performance of the control authority handover process. In some implementations, based on a determination that an error has occurred during the control authority handover process, the first RPScan transmit a control authority handover process restart command to the mobility device.

310 320 100 In some implementations, based on a determination that the control authority handover process is performed without errors, the first RPScan transmit a control authority handover possible signal to the second RPSand end the communication with the mobility device.

320 100 100 Thereafter, if the control authority handover process is completed, the second RPScan transmit a signal indicating that the control authority handover process is completed to the mobility deviceand control navigation of the mobility devicebased on the handed-over control authority.

100 320 In some implementations, the mobility devicecan end the performance of the control authority handover process and maintain the performance of the current mission until a command is received from the second RPS.

310 100 310 100 For example, if the number of times the first RPSrepeatedly transmits the control authority handover process restart command to the mobility deviceis greater than a predetermined number of times, the first RPScan determine that it is impossible to handover the control authority for the mobility device.

310 100 100 If a communication disconnection from the first RPSbeing detected, after it is determined that it is impossible to perform the handover process of the control authority, the mobility devicecan return to a pre-specified point and hover or loiter. For example, the pre-specified point can be, but is not limited to, coordinates at which the mobility devicetakes off to start navigation.

100 310 100 310 310 In some implementations, if the mobility deviceand the first RPSare communicatively connected with each other, after it is determined that it is impossible to perform the handover process of the control authority, the mobility devicecan transmit, to the first RPS, a signal indicating that it is impossible to perform the handover process of control authority and wait for a command transmitted from the first RPS, while hovering or loitering above the current location.

100 320 100 310 100 310 310 In some implementations, if the mobility devicebroadcasts the communication request signal to surrounding RPSs, the surrounding RPSs may fail to receive the communication request signal or communication between the second RPSand the mobility devicemay fail to be connected. In this scenario, based on a communication disconnection from the first RPSbeing detected, the mobility devicecan move to a pre-specified point to hover or loiter, until communicatively connected with the first RPS, and re-perform the mission it was performing immediately prior to the communication disconnection, if communicatively connected with the first RPSagain.

320 100 100 310 100 310 In some implementations, in the state in which the surrounding RPSs do not receive the communication request signal or in the state in which the communication between the second RPSand the mobility deviceis not connected, if the communication between the mobility deviceand the first RPSis connected, the mobility devicecan determine whether the distance from the first RPSis greater than a predetermined link connection safety distance.

310 100 100 310 Based on a determination that the distance between the first RPSand the mobility deviceis greater than the predetermined link connection safety distance, the mobility devicecan transmit an alarm signal to the first RPS.

3 4 FIGS.and 1 2 FIGS.and are flowcharts for describing an example of a method for controlling a mobility device. A description duplicated with the configuration and function described above with reference tomay be partially omitted.

101 103 1 In S, a mobility device RPA can start navigation. In S, the mobility device RPA can perform control and command processes through a first RPS RPS.

105 1 1 In S, the mobility device RPA can compare communication connection strength with the first RPS RPS. For example, the mobility device RPA can compare (i) the communication connection strength with the first RPS RPSagainst (ii) a predetermined threshold, while performing the control and command processes.

1 In some implementations, if the communication strength with the first RPS RPSis less than the predetermined threshold, the mobility device RPA can determine to perform the handover ownership process of control authority for the mobility device RPA to another RPS.

1 In some implementations, the mobility device RPA can determine whether to perform a handover process of the ownership of the control authority for the mobility device RPA to the other RPS based on a separation distance from the first RPS RPS.

1 In some implementations, if a distance between the first RPS RPSand the mobility device RPA is greater than or equal to a predetermined threshold distance, the mobility device RPA can determine to perform the handover process of the ownership of the control authority for the mobility device RPA to the other RPS.

107 Based on a determination to perform the handover process of the ownership of the control authority for the mobility device RPA, in S, the mobility device RPA can broadcast a communication request signal to surrounding RPSs.

1 The communication request signal can include information regarding the first RPS RPScurrently holding the control authority for the mobility device RPA and can be a signal for checking whether the receiving RPS can communicate with the mobility device RPA.

2 111 2 1 If the second RPS RPSamong the surrounding RPSs that have received the communication request signal can communicate with the mobility device RPA, in S, the second RPS RPScan transmit a control authority handover request to the first RPS RPSbased on the communication request signal.

2 Herein, if the surrounding RPSs are plural in number, the second RPS RPScan be a device which is in the closest distance from the mobility device RPA among the surrounding RPSs or can be selected as one with the greatest communication strength with the mobility device RPA.

113 115 1 2 Based on a determination to allow the performance of the control authority handover process in S, in S, the first RPS RPS, which has received the control authority handover request from the second RPS RPS, can transmit a control authority handover start command to the mobility device RPA.

117 If the control authority handover start command is received at the mobility device RPA, in S, the mobility device RPA can initiate performing a control authority handover process, while navigating in a circular patter or continuing the mission it was performing immediately prior.

119 1 121 1 Thus, in S, the mobility device RPA can transmit a signal for initiating the performance of the control authority handover process to the first RPS RPS. In S, the first RPS RPScan determine whether the control authority handover process is performed without errors, based on the received signal for initiating the performance of the control authority handover process.

2 2 2 The signal for initiating the performance of the control authority handover process can include information, such as information regarding the second RPS PRS, a separation distance between the second RPS RPSand the mobility device RPA, communication strength between the second RPS RPSand the mobility device RPA, or a time for initiating performance of the control authority handover process.

123 1 2 Based on a determination that the control authority handover process is performed without errors, in S, the first RPS RPScan transmit a control authority handover possible signal to the second RPS RPSand end the communication with the mobility device RPA.

125 2 Thereafter, if the control authority handover process is completed, in S, the second RPS RPScan transmit a signal indicating that the control authority handover process is completed to the mobility device RPA and can control navigation of the mobility device RPA based on the handed-over control authority.

127 2 Next, in S, the mobility device RPA can end the performance of the control authority handover process and maintain the performance of the current mission until a command is received from the second RPS RPS.

121 129 1 4 FIG. In some implementations, in S(refer to), based on a determination that an error has occurred during the control authority handover process, in S, the first RPS RPScan transmit a control authority handover process restart command to the mobility device RPA.

1 Whenever it is determined that the error has occurred during the control authority handover process, the first RPS RPScan transmit the control authority handover process restart command to the mobility device RPA.

1 131 1 If the number of times the first RPS RPSrepeatedly transmits the control authority handover mission restart command to the mobility device RPA is greater than a predetermined threshold frequency in S, the first RPS RPScan determine that the handover process cannot be performed for the mobility device RPA.

1 133 135 If a communication disconnection from the first RPS RPSis detected in S, after it is determined that the handover process cannot be performed, in S, the mobility device RPA can return to a pre-specified point and hover or loiter.

1 133 137 1 1 In some implementations, if the mobility device RPA and the first RPS RPScan be communicatively connected with each other in S, after it is determined that the handover process cannot be performed, in S, the mobility device RPA can transmit a signal indicating that the handover process cannot be performed to the first RPS RPSand wait for a command transmitted from the first RPS RPS, while hovering or loitering above the current location.

5 FIG. 3 FIG. 109 is a flowchart for describing an example of a method for controlling a mobility device. The difference from the implementations shown inis flow corresponding to the case of “No” in S.

5 FIG. 301 303 1 Referring to, in S, a mobility device RPA can initiate navigation. In S, the mobility device RPA can perform a control and command process through a first RPS RPS.

305 1 In S, the mobility device RPA can compare communication connection strength with the first RPS RPS, that is, communication strength with a predetermined threshold, while performing the control and command process.

1 In some implementations, if the communication strength with the first RPS RPSis less than the predetermined threshold, the mobility device RPA can determine to perform a handover process of ownership of control authority for the mobility device RPA to another RPS.

1 In some implementations, the mobility device RPA can determine whether to perform the handover process of the ownership of the control authority for the mobility device RPA to the other RPS based on a separation distance from the first RPS RPS.

1 For example, if the distance between the first RPS RPSand the mobility device RPA is greater than or equal to a predetermined threshold distance, the mobility device RPA can determine to perform a handover process of the ownership of the control authority for the mobility device RPA to the other RPS.

307 Based on a determination to perform the handover process of the ownership of the control authority for the mobility device RPA, in S, the mobility device RPA can broadcast a communication request signal to surrounding RPSs.

309 2 In some implementations, if the mobility device RPA broadcasts the communication request signal to the surrounding RPSs, in S, the surrounding RPSs may fail to receive the communication request signal or communication between the second RPS RPSand the mobility device RPA may fail to be connected.

311 1 313 In this scenario, in S, the mobility device RPA can detect whether there is a communication disconnection from the first RPS RPS. If the communication disconnection is detected, in S, the mobility device RPA can move to a pre-specified point and hover or loiter.

1 315 317 Next, if the first RPS RPSand the mobility device RPA are communicatively connected with each other again in S, in S, the mobility device RPA can re-perform the mission which is being performed immediately before the communication disconnection.

309 2 1 311 319 1 In some implementations, in the state in which the surrounding RPSs do not receive the communication request signal in Sor in which the communication between the second RPS RPSand the mobility device RPA is disconnected, if it is detected that the communication between the mobility device RPA and the first RPS RPSis connected in S, in S, the mobility device RPA can determine whether the distance from the first RPS RPSis greater than a predetermined link connection safety distance.

1 319 321 1 Based on a determination that the distance between the first RPS RPSand the mobility device RPA is greater than the predetermined link connection safety distance in S, in S, the mobility device RPA can transmit an alarm signal to the first RPS RPS.

1 319 303 In some implementations, based on a determination that the distance between the first RPS RPSand the mobility device RPA is less than or equal to the predetermined link connection safety distance in S, the mobility device RPA can return to S.

According to the present disclosure, if the mobility device moves a long distance to perform a mission, the RPS may take over control authority and may perform the control authority in a corresponding area, thus maintaining a physical communication distance in an appropriate level to ensure communication stability of the mobility device.

Furthermore, according to the present disclosure, even if RPSs and the mobility devices are plural in number, they may ensure a procedure for airframe flight, thus increasing stability of the airframe flight.

According to the present disclosure, the remotely pilot station may take over control authority and may perform the control authority in a corresponding area, if the mobility device moves a long distance to perform a mission, thus maintaining a physical communication distance in an appropriate level to ensure communication stability of the mobility device.

Furthermore, according to the present disclosure, remotely pilot stations and mobility devices may ensure a procedure for airframe flight to increase stability of the airframe flight, even if the remotely pilot stations and the mobility devices are plural in number.